AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode_capteur_US

Capteur_US

Dependencies:   mbed DRV8825

debug.cpp@2:094c09903a9c, 2020-07-09 (annotated)

Committer:
Nanaud
Date:
Thu Jul 09 21:03:01 2020 +0000
Revision:
2:094c09903a9c
Parent:
1:2fe8c402ee79
Child:
3:3ba377aafdfd
Debut du code pour l'odometrie

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Nanaud 1:2fe8c402ee79 1 // Nom du fichier : debug.cpp
Nanaud 0:dc036b67c87c 2 #include "pins.h"
Nanaud 0:dc036b67c87c 3
Nanaud 1:2fe8c402ee79 4 // Variables globales & timerse
Nanaud 1:2fe8c402ee79 5 Serial pc(USBTX, USBRX);
Nanaud 1:2fe8c402ee79 6 Ticker ticker_affUS;
Nanaud 1:2fe8c402ee79 7 Ticker ticker_affcd;
Nanaud 1:2fe8c402ee79 8 bool aff_US[6];
Nanaud 1:2fe8c402ee79 9 bool aff_cd[4];
Nanaud 1:2fe8c402ee79 10
Nanaud 0:dc036b67c87c 11 void serialIT(){
Nanaud 0:dc036b67c87c 12 //pc.printf("\n\rserialIT on\n\r");
Nanaud 0:dc036b67c87c 13 static int i=0;
Nanaud 0:dc036b67c87c 14 static char buffer[10]=""; // Tableau qui contient la chaine de caractère rentrée dans le terminal.
Nanaud 0:dc036b67c87c 15 static char cmd[Lcmd]=""; // Variable qui retient que les premiers caractères qui représentent la commande.
Nanaud 0:dc036b67c87c 16 char tampon = pc.getc();
Nanaud 0:dc036b67c87c 17
Nanaud 0:dc036b67c87c 18 if((tampon >= 48 && tampon <=57) || (tampon>=97 && tampon<=122) || tampon==13)
Nanaud 0:dc036b67c87c 19 {
Nanaud 0:dc036b67c87c 20 buffer[i]=tampon; // Ajout du caractère dans le tableau buffer
Nanaud 0:dc036b67c87c 21 pc.putc(buffer[i]); // Réécriture sur le terminal du caractère envoyé
Nanaud 0:dc036b67c87c 22 i++;
Nanaud 0:dc036b67c87c 23 }
Nanaud 0:dc036b67c87c 24
Nanaud 0:dc036b67c87c 25 if(buffer[i-1]=='\r'){ // Attente un appui sur la touche entrée
Nanaud 0:dc036b67c87c 26 i=0;
Nanaud 0:dc036b67c87c 27 copieTab(buffer,cmd); // Sauvegarde la commande dans le tableau cmd
Nanaud 0:dc036b67c87c 28 cmdChoice(cmd);
Nanaud 0:dc036b67c87c 29 }
Nanaud 0:dc036b67c87c 30 }
Nanaud 0:dc036b67c87c 31
Nanaud 0:dc036b67c87c 32 void copieTab(char *tab1,char *tab2){ // Fonction qui recopie un tableau dans un autre
Nanaud 0:dc036b67c87c 33 //pc.printf("\n\rcopieTab on\n\r");
Nanaud 0:dc036b67c87c 34 //pc.printf("\n\r");
Nanaud 0:dc036b67c87c 35 for(int j=0;j<Lcmd;j++){
Nanaud 0:dc036b67c87c 36 tab2[j]=tab1[j];
Nanaud 0:dc036b67c87c 37 //pc.printf("%c",tab2[j]);
Nanaud 0:dc036b67c87c 38 }
Nanaud 0:dc036b67c87c 39 //pc.printf("\n\r");
Nanaud 0:dc036b67c87c 40 }
Nanaud 0:dc036b67c87c 41
Nanaud 0:dc036b67c87c 42 void cmdChoice(char *cmd){ // Fonction qui permet de choisir de l'activation d'une commande
Nanaud 0:dc036b67c87c 43 //pc.printf("\n\rcmdChoice on\n\rcmd =");
Nanaud 0:dc036b67c87c 44
Nanaud 0:dc036b67c87c 45 const char *options[]={
Nanaud 0:dc036b67c87c 46 "help", //0
Nanaud 0:dc036b67c87c 47 "usao", //1
Nanaud 0:dc036b67c87c 48 "us1o", //2
Nanaud 0:dc036b67c87c 49 "us2o", //3
Nanaud 0:dc036b67c87c 50 "us3o", //4
Nanaud 0:dc036b67c87c 51 "us4o", //5
Nanaud 0:dc036b67c87c 52 "us5o", //6
Nanaud 0:dc036b67c87c 53 "us6o", //7
Nanaud 0:dc036b67c87c 54 "tdrv", //8
Nanaud 0:dc036b67c87c 55 "cdon", //9
Nanaud 0:dc036b67c87c 56 "cdga", //10
Nanaud 0:dc036b67c87c 57 "cdgb", //11
Nanaud 0:dc036b67c87c 58 0
Nanaud 0:dc036b67c87c 59 };
Nanaud 0:dc036b67c87c 60
Nanaud 0:dc036b67c87c 61 long option=-1;
Nanaud 0:dc036b67c87c 62
Nanaud 0:dc036b67c87c 63 for (long a=0; options[a] && option<0; a++){
Nanaud 0:dc036b67c87c 64 if (!strcmp(cmd,options[a]) || strcmp(cmd,options[a])==1){ // strcmp(cmd,options[a])==1 permet de contourner le problème, à revoir !!!
Nanaud 0:dc036b67c87c 65 option=a;
Nanaud 0:dc036b67c87c 66 }
Nanaud 0:dc036b67c87c 67 //pc.printf("res = %d",strcmp(cmd,options[a]));
Nanaud 0:dc036b67c87c 68 }
Nanaud 0:dc036b67c87c 69
Nanaud 0:dc036b67c87c 70 switch (option) {
Nanaud 0:dc036b67c87c 71 case 0: //help
Nanaud 0:dc036b67c87c 72 pc.printf("\n\n\r###HELP###\n\r");
Nanaud 0:dc036b67c87c 73 pc.printf("usao : Affichage resultats capteurs a ultrasons\n\r");
Nanaud 0:dc036b67c87c 74 pc.printf("usxo : Affichage resultat capteur ultrasons x\n\r");
Nanaud 0:dc036b67c87c 75 pc.printf("tdrv : Lance la fonction test_drv()\n\r");
Nanaud 0:dc036b67c87c 76 pc.printf("cdon : Affichage resultats codeurs\n\r");
Nanaud 0:dc036b67c87c 77 pc.printf("cdgx : Affichage resultats codeur gauche phase x (a ou b)\n\r");
Nanaud 0:dc036b67c87c 78 pc.printf("\n\r");
Nanaud 0:dc036b67c87c 79 break;
Nanaud 0:dc036b67c87c 80 case 1: //usao
Nanaud 0:dc036b67c87c 81 pc.printf("Capt US ALL ON/OFF\n\r");
Nanaud 0:dc036b67c87c 82 aff_US[0]=!aff_US[0];aff_US[1]=!aff_US[1];aff_US[2]=!aff_US[2];
Nanaud 0:dc036b67c87c 83 aff_US[3]=!aff_US[3];aff_US[4]=!aff_US[4];aff_US[5]=!aff_US[5];
Nanaud 0:dc036b67c87c 84 break;
Nanaud 0:dc036b67c87c 85 case 2: //us1o
Nanaud 0:dc036b67c87c 86 pc.printf("Capt US 1 ON/OFF\n\r");
Nanaud 0:dc036b67c87c 87 aff_US[0]=!aff_US[0];
Nanaud 0:dc036b67c87c 88 break;
Nanaud 0:dc036b67c87c 89 case 3: //us2o
Nanaud 0:dc036b67c87c 90 pc.printf("Capt US 2 ON/OFF\n\r");
Nanaud 0:dc036b67c87c 91 aff_US[1]=!aff_US[1];
Nanaud 0:dc036b67c87c 92 break;
Nanaud 0:dc036b67c87c 93 case 4: //us3o
Nanaud 0:dc036b67c87c 94 pc.printf("Capt US 3 ON/OFF\n\r");
Nanaud 0:dc036b67c87c 95 aff_US[2]=!aff_US[2];
Nanaud 0:dc036b67c87c 96 break;
Nanaud 0:dc036b67c87c 97 case 5: //us4o
Nanaud 0:dc036b67c87c 98 pc.printf("Capt US 4 ON/OFF\n\r");
Nanaud 0:dc036b67c87c 99 aff_US[3]=!aff_US[3];
Nanaud 0:dc036b67c87c 100 break;
Nanaud 0:dc036b67c87c 101 case 6: //us5o
Nanaud 0:dc036b67c87c 102 pc.printf("Capt US 5 ON/OFF\n\r");
Nanaud 0:dc036b67c87c 103 aff_US[4]=!aff_US[4];
Nanaud 0:dc036b67c87c 104 break;
Nanaud 0:dc036b67c87c 105 case 7: //us6o
Nanaud 0:dc036b67c87c 106 pc.printf("Capt US 6 ON/OFF\n\r");
Nanaud 0:dc036b67c87c 107 aff_US[5]=!aff_US[5];
Nanaud 0:dc036b67c87c 108 break;
Nanaud 0:dc036b67c87c 109 case 8: //tdrv
Nanaud 0:dc036b67c87c 110 pc.printf("Fonction test_drv()\n\r");
Nanaud 0:dc036b67c87c 111 test_drv();
Nanaud 0:dc036b67c87c 112 break;
Nanaud 0:dc036b67c87c 113 case 9: //cdon
Nanaud 0:dc036b67c87c 114 pc.printf("Results ALL Encoders ON/OFF\n\r");
Nanaud 0:dc036b67c87c 115 aff_cd[0]=!aff_cd[0];
Nanaud 0:dc036b67c87c 116 aff_cd[1]=!aff_cd[1];
Nanaud 0:dc036b67c87c 117 break;
Nanaud 0:dc036b67c87c 118 case 10: //cdga
Nanaud 0:dc036b67c87c 119 pc.printf("Results Encoder Left A ON/OFF\n\r");
Nanaud 0:dc036b67c87c 120 aff_cd[0]=!aff_cd[0];
Nanaud 0:dc036b67c87c 121 break;
Nanaud 0:dc036b67c87c 122 case 11: //cdgb
Nanaud 0:dc036b67c87c 123 pc.printf("Results Encoder Left B ON/OFF\n\r");
Nanaud 0:dc036b67c87c 124 aff_cd[1]=!aff_cd[1];
Nanaud 0:dc036b67c87c 125 break;
Nanaud 0:dc036b67c87c 126 default:
Nanaud 0:dc036b67c87c 127 pc.printf("Commande invalide\n\r");
Nanaud 0:dc036b67c87c 128 }
Nanaud 0:dc036b67c87c 129 }
Nanaud 0:dc036b67c87c 130
Nanaud 0:dc036b67c87c 131 void affUltrasons(){
Nanaud 0:dc036b67c87c 132 if(aff_US[0]) printf("Tps US1 = %5.0f uS\n\r", us_out[0]);
Nanaud 0:dc036b67c87c 133 if(aff_US[1]) printf("Tps US2 = %5.0f uS\n\r", us_out[1]);
Nanaud 0:dc036b67c87c 134 if(aff_US[2]) printf("Tps US3 = %5.0f uS\n\r", us_out[2]);
Nanaud 0:dc036b67c87c 135 if(aff_US[3]) printf("Tps US4 = %5.0f uS\n\r", us_out[3]);
Nanaud 0:dc036b67c87c 136 if(aff_US[4]) printf("Tps US5 = %5.0f uS\n\r", us_out[4]);
Nanaud 0:dc036b67c87c 137 if(aff_US[5]) printf("Tps US6 = %5.0f uS\n\r", us_out[5]);
Nanaud 0:dc036b67c87c 138 if(aff_US[0]||aff_US[1]||aff_US[2]||aff_US[3]||aff_US[4]||aff_US[5]) printf("\n\r");
Nanaud 0:dc036b67c87c 139 }
Nanaud 0:dc036b67c87c 140
Nanaud 0:dc036b67c87c 141 void affCodeurs(){
Nanaud 0:dc036b67c87c 142 if(aff_cd[0]) printf("CdgA = %d\n\r", cpt_cdgA);
Nanaud 2:094c09903a9c 143 //if(aff_cd[1]) printf("CdgB = %d\n\r", cpt_cdgB);
Nanaud 0:dc036b67c87c 144 }
Nanaud 0:dc036b67c87c 145